EP3778353A4 - Steuerungsvorrichtung, lenkvorrichtung, steuerungsverfahren und programm - Google Patents

Steuerungsvorrichtung, lenkvorrichtung, steuerungsverfahren und programm Download PDF

Info

Publication number
EP3778353A4
EP3778353A4 EP19776746.0A EP19776746A EP3778353A4 EP 3778353 A4 EP3778353 A4 EP 3778353A4 EP 19776746 A EP19776746 A EP 19776746A EP 3778353 A4 EP3778353 A4 EP 3778353A4
Authority
EP
European Patent Office
Prior art keywords
control
program
control method
steering device
steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19776746.0A
Other languages
English (en)
French (fr)
Other versions
EP3778353A1 (de
Inventor
Yuichi Miura
Takashi Kojima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JTEKT Corp
Original Assignee
JTEKT Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by JTEKT Corp filed Critical JTEKT Corp
Publication of EP3778353A1 publication Critical patent/EP3778353A1/de
Publication of EP3778353A4 publication Critical patent/EP3778353A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0493—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/003—Backup systems, e.g. for manual steering

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
EP19776746.0A 2018-03-26 2019-03-25 Steuerungsvorrichtung, lenkvorrichtung, steuerungsverfahren und programm Withdrawn EP3778353A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018058091 2018-03-26
PCT/JP2019/012431 WO2019188951A1 (ja) 2018-03-26 2019-03-25 制御装置、転舵装置、制御方法及びプログラム

Publications (2)

Publication Number Publication Date
EP3778353A1 EP3778353A1 (de) 2021-02-17
EP3778353A4 true EP3778353A4 (de) 2022-01-19

Family

ID=68058391

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19776746.0A Withdrawn EP3778353A4 (de) 2018-03-26 2019-03-25 Steuerungsvorrichtung, lenkvorrichtung, steuerungsverfahren und programm

Country Status (5)

Country Link
US (1) US11584429B2 (de)
EP (1) EP3778353A4 (de)
JP (1) JP7226433B2 (de)
CN (1) CN111902331B (de)
WO (1) WO2019188951A1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7017130B2 (ja) * 2018-08-13 2022-02-08 トヨタ自動車株式会社 ステアリングシステム
US11572095B2 (en) * 2019-02-28 2023-02-07 Steering Solutions Ip Holding Corporation Method and system for electronic power steering angle control with non-zero initial condition
KR20210031075A (ko) * 2019-09-11 2021-03-19 주식회사 만도 조향 제어 장치 및 그 방법, 그리고 조향 시스템
CA3099415A1 (en) * 2019-12-20 2021-02-05 Bombardier Transportation Gmbh Steering system for an autonomous vehicle
CN111645755B (zh) * 2020-05-18 2021-10-01 长城汽车股份有限公司 一种控制方法和装置
KR20220048524A (ko) * 2020-10-12 2022-04-20 현대자동차주식회사 자율주행차량의 사고 발생 후 차량 이동 방법
JP7200210B2 (ja) * 2020-12-25 2023-01-06 本田技研工業株式会社 移動体

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001322557A (ja) * 2000-05-17 2001-11-20 Toyota Motor Corp 車両の複数輪独立操舵装置
US20040140147A1 (en) * 2002-12-11 2004-07-22 Conception Et Developpement Michelin System for steering a vehicle, having a degraded mode in the event of failure of a wheel steering actuator
JP2007307972A (ja) * 2006-05-17 2007-11-29 Toyota Motor Corp 車両の操舵装置
DE102016208775A1 (de) * 2016-05-20 2017-11-23 Ford Global Technologies, Llc Steer-by-Wire-System, Kraftfahrzeug und Verfahren zum Betreiben eines Steer-by-Wire-Systems

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006175925A (ja) * 2004-12-21 2006-07-06 Toyota Motor Corp 車両用操舵装置
EP1975041B1 (de) * 2007-03-27 2013-10-16 Honda Motor Co., Ltd. Lenksystem
JP4359315B2 (ja) 2007-03-27 2009-11-04 本田技研工業株式会社 車両の全輪操舵装置
JP2009208718A (ja) 2008-03-06 2009-09-17 Honda Motor Co Ltd 後輪独立操舵制御装置
JP5321107B2 (ja) 2009-02-06 2013-10-23 日産自動車株式会社 旋回挙動制御装置、及び旋回挙動制御方法
JP5493835B2 (ja) 2009-12-25 2014-05-14 日本精工株式会社 フォークリフト用ステアリング装置
JP2011183883A (ja) 2010-03-05 2011-09-22 Jtekt Corp 電動パワーステアリング装置
JP2013107450A (ja) 2011-11-18 2013-06-06 Jtekt Corp 四輪操舵制御装置
CN105473419B (zh) * 2012-11-07 2018-12-18 日产自动车株式会社 转向操纵控制装置
JP6548023B2 (ja) * 2015-09-11 2019-07-24 株式会社ジェイテクト 車両用操舵装置
JP6579377B2 (ja) * 2015-11-30 2019-09-25 株式会社ジェイテクト 車両用操舵装置
JP7017130B2 (ja) * 2018-08-13 2022-02-08 トヨタ自動車株式会社 ステアリングシステム
JP7259574B2 (ja) * 2019-06-17 2023-04-18 株式会社ジェイテクト 制御装置、および転舵装置
JP7275981B2 (ja) * 2019-08-09 2023-05-18 株式会社ジェイテクト 制御装置、および転舵装置
JP7275991B2 (ja) * 2019-08-20 2023-05-18 株式会社ジェイテクト 制御装置、および転舵装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001322557A (ja) * 2000-05-17 2001-11-20 Toyota Motor Corp 車両の複数輪独立操舵装置
US20040140147A1 (en) * 2002-12-11 2004-07-22 Conception Et Developpement Michelin System for steering a vehicle, having a degraded mode in the event of failure of a wheel steering actuator
JP2007307972A (ja) * 2006-05-17 2007-11-29 Toyota Motor Corp 車両の操舵装置
DE102016208775A1 (de) * 2016-05-20 2017-11-23 Ford Global Technologies, Llc Steer-by-Wire-System, Kraftfahrzeug und Verfahren zum Betreiben eines Steer-by-Wire-Systems

Also Published As

Publication number Publication date
JPWO2019188951A1 (ja) 2021-03-18
WO2019188951A1 (ja) 2019-10-03
CN111902331B (zh) 2023-06-09
US11584429B2 (en) 2023-02-21
EP3778353A1 (de) 2021-02-17
CN111902331A (zh) 2020-11-06
JP7226433B2 (ja) 2023-02-21
US20210016825A1 (en) 2021-01-21

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